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random changes (to be undone when merging)

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Bart Moyaers
2020-02-12 10:55:54 +01:00
parent ef20f9e62c
commit 644a69a066
12 changed files with 8117 additions and 9 deletions
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12
build_visual_studio_vr_pybullet_double.bat
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@@ -5,15 +5,15 @@ IF NOT EXIST bin\openvr64pi.dll copy examples\ThirdPartyLibs\openvr\bin\win64\o
#aargh, see https://github.com/ValveSoftware/openvr/issues/412
#find a python version (hopefully just 1) and use this
dir c:\python* /b /ad > tmp1234.txt
REM #find a python version (hopefully just 1) and use this
REM dir c:\python* /b /ad > tmp1234.txt
set /p myvar1= < tmp1234.txt
set myvar=c:/%myvar1%
del tmp1234.txt
REM set /p myvar1= < tmp1234.txt
REM set myvar=c:/%myvar1%
REM del tmp1234.txt
rem you can also override and hardcode the Python path like this (just remove the # hashmark in next line)
rem SET myvar=c:\python-3.5.2
SET myvar=C:\Users\Bart\AppData\Local\Programs\Python\Python36
cd build3

4
examples/pybullet/examples/humanoidMotionCapture.py
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@@ -42,7 +42,9 @@ timeStep = 1. / 600.
p.setPhysicsEngineParameter(fixedTimeStep=timeStep)
path = pybullet_data.getDataPath() + "/data/motions/humanoid3d_backflip.txt"
path = pybullet_data.getDataPath() + "/data/motions/blender_ik_test.txt"
# path = pybullet_data.getDataPath() + "/data/motions/humanoid3d_zero_pos.txt"
# path = pybullet_data.getDataPath() + "/data/motions/humanoid3d_backflip.txt"
#path = pybullet_data.getDataPath()+"/data/motions/humanoid3d_cartwheel.txt"
#path = pybullet_data.getDataPath()+"/data/motions/humanoid3d_walk.txt"

27
examples/pybullet/gym/pybullet_data/args/run_humanoid_grasp_semi_trained.txt Normal file
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@@ -0,0 +1,27 @@
--scene imitate
--num_update_substeps 10
--num_sim_substeps 2
--world_scale 4
--terrain_file data/terrain/plane.txt
--char_types general
--character_files data/characters/humanoid3d.txt
--enable_char_soft_contact false
--fall_contact_bodies 0 1 2 3 4 6 7 8 9 10 12 13 14
--char_ctrls ct_pd
--char_ctrl_files data/controllers/humanoid3d_ctrl.txt
--motion_file data/motions/humanoid_grasp_test.txt
--sync_char_root_pos true
--sync_char_root_rot false
--goal_type NoGoal
--agent_files data/agents/ct_agent_humanoid_ppo.txt
--train_agents false
#--output_path output
#--int_output_path output/intermediate
--model_files output/grasp_partial_run/agent0_model.ckpt
#--model_files output/spinkick_partial_run/agent0_model.ckpt

25
examples/pybullet/gym/pybullet_data/args/run_humanoid_run_semi_trained.txt Normal file
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@@ -0,0 +1,25 @@
--scene imitate
--num_update_substeps 10
--num_sim_substeps 2
--world_scale 4
--terrain_file data/terrain/plane.txt
--char_types general
--character_files data/characters/humanoid3d.txt
--enable_char_soft_contact false
--fall_contact_bodies 0 1 2 3 4 6 7 8 9 10 12 13 14
--char_ctrls ct_pd
--char_ctrl_files data/controllers/humanoid3d_ctrl.txt
--motion_file data/motions/humanoid3d_run.txt
--sync_char_root_pos true
--sync_char_root_rot false
--agent_files data/agents/ct_agent_humanoid_ppo.txt
--train_agents false
#--output_path output
#--int_output_path output/intermediate
--model_files output/agent0_model.ckpt

33
examples/pybullet/gym/pybullet_data/args/train_humanoid3d_run_continue.txt Normal file
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@@ -0,0 +1,33 @@
--scene imitate
--time_lim_min 0.5
--time_lim_max 0.5
--time_lim_exp 0.2
--time_end_lim_min 20
--time_end_lim_max 20
--time_end_lim_exp 50
--anneal_samples 32000000
--num_update_substeps 10
--num_sim_substeps 2
--world_scale 4
--terrain_file data/terrain/plane.txt
--char_types general
--character_files data/characters/humanoid3d.txt
--enable_char_soft_contact false
--fall_contact_bodies 0 1 2 3 4 6 7 8 9 10 12 13 14
--char_ctrls ct_pd
--char_ctrl_files data/controllers/humanoid3d_ctrl.txt
--motion_file data/motions/humanoid3d_run.txt
--sync_char_root_pos true
--sync_char_root_rot false
--agent_files data/agents/ct_agent_humanoid_ppo.txt
#--train_agents false
#--output_path output
#--int_output_path output/intermediate
--model_files output/agent0_model.ckpt

33
examples/pybullet/gym/pybullet_data/args/train_humanoid_grasp_args.txt Normal file
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@@ -0,0 +1,33 @@
--scene imitate
--time_lim_min 0.5
--time_lim_max 0.5
--time_lim_exp 0.2
--time_end_lim_min 20
--time_end_lim_max 20
--time_end_lim_exp 50
--anneal_samples 32000000
--num_update_substeps 10
--num_sim_substeps 2
--world_scale 4
--terrain_file data/terrain/plane.txt
--char_types general
--character_files data/characters/humanoid3d.txt
--enable_char_soft_contact false
--fall_contact_bodies 0 1 2 3 4 6 7 8 9 10 12 13 14
--char_ctrls ct_pd
--char_ctrl_files data/controllers/humanoid3d_ctrl.txt
--motion_file data/motions/humanoid_grasp_test.txt
--sync_char_root_pos true
--sync_char_root_rot false
--agent_files data/agents/ct_agent_humanoid_ppo.txt
#--train_agents false
--output_path output
#--int_output_path output/intermediate
#--model_files data/policies/humanoid3d/agent0_model.ckpt

3961
examples/pybullet/gym/pybullet_data/data/motions/blender_ik_test.txt Normal file
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16
examples/pybullet/gym/pybullet_data/data/motions/humanoid3d_zero_pos.txt Normal file
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@@ -0,0 +1,16 @@
{
"Loop": "wrap",
"Frames":
[
[0.062500, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000, 0.000000, 0.000000, 1.000000,0.000000, 0.000000, 0.000000, 1.000000, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000, 0.000000, 0.000000, 0.000000],
[0.062500, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000, 0.000000, 0.000000, 1.000000,0.000000, 0.000000, 0.000000, 1.000000, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000, 0.000000, 0.000000, 0.000000],
[0.062500, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000, 0.000000, 0.000000, 1.000000,0.000000, 0.000000, 0.000000, 1.000000, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000, 0.000000, 0.000000, 0.000000],
[0.062500, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000, 0.000000, 0.000000, 1.000000,0.000000, 0.000000, 0.000000, 1.000000, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000, 0.000000, 0.000000, 0.000000],
[0.062500, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000, 0.000000, 0.000000, 1.000000,0.000000, 0.000000, 0.000000, 1.000000, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000, 0.000000, 0.000000, 0.000000],
[0.062500, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000, 0.000000, 0.000000, 1.000000,0.000000, 0.000000, 0.000000, 1.000000, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000, 0.000000, 0.000000, 0.000000],
[0.062500, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000, 0.000000, 0.000000, 1.000000,0.000000, 0.000000, 0.000000, 1.000000, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000, 0.000000, 0.000000, 0.000000],
[0.062500, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000, 0.000000, 0.000000, 1.000000,0.000000, 0.000000, 0.000000, 1.000000, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000, 0.000000, 0.000000, 0.000000],
[0.062500, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000, 0.000000, 0.000000, 1.000000,0.000000, 0.000000, 0.000000, 1.000000, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000, 0.000000, 0.000000, 0.000000],
[0.062500, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000, 0.000000, 0.000000, 1.000000,0.000000, 0.000000, 0.000000, 1.000000, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000, 0.000000, 0.000000, 0.000000]
]
}

3961
examples/pybullet/gym/pybullet_data/data/motions/humanoid_grasp_test.txt Normal file
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3
examples/pybullet/gym/pybullet_envs/deep_mimic/env/testHumanoid.py vendored
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@@ -26,7 +26,8 @@ pybullet_client.setPhysicsEngineParameter(numSolverIterations=10)
mocapData = motion_capture_data.MotionCaptureData()
#motionPath = pybullet_data.getDataPath()+"/data/motions/humanoid3d_walk.txt"
motionPath = pybullet_data.getDataPath() + "/data/motions/humanoid3d_backflip.txt"
# motionPath = pybullet_data.getDataPath() + "/data/motions/humanoid3d_backflip.txt"
motionPath = pybullet_data.getDataPath() + "/data/motions/blender_ik_test.txt"
mocapData.Load(motionPath)
timeStep = 1. / 600
useFixedBase = False

2
examples/pybullet/gym/pybullet_envs/deep_mimic/learning/rl_agent.py
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@@ -74,7 +74,7 @@ class RLAgent(ABC):
self._output_dir = ""
self._int_output_dir = ""
self.output_iters = 100
self.output_iters = 50
self.int_output_iters = 100
self.train_return = 0.0

49
examples/pybullet/gym/pybullet_envs/deep_mimic/runcommand.txt Normal file
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@@ -0,0 +1,49 @@
python testrl.py --arg_file run_humanoid3d_backflip_args.txt
python testrl.py --arg_file run_humanoid3d_spinkick_args_semi_trained.txt
python testrl.py --arg_file run_humanoid_run_semi_trained.txt
python testrl.py --arg_file run_humanoid_grasp_semi_trained.txt
scp -r acro@10.11.98.170:Git/bullet3/examples/pybullet/gym/pybullet_envs/deep_mimic/output C:/UntrackedGit/bulletFork/bullet3/examples/pybullet/gym/pybullet_envs/deep_mimic/output
scp -r acro@10.11.98.170:Git/bullet3/examples/pybullet/gym/pybullet_envs/deep_mimic/output C:/UntrackedGit/bulletFork/bullet3/examples/pybullet/gym/pybullet_data/output
scp -r acro@10.11.98.170:Git/bullet3/examples/pybullet/gym/pybullet_envs/deep_mimic/output C:/UntrackedGit/bulletFork/bullet3/examples/pybullet/gym/pybullet_data/output/spinkick_partial_run
scp -r acro@10.11.98.170:Git/bullet3/examples/pybullet/gym/pybullet_envs/deep_mimic/output C:/UntrackedGit/bulletFork/bullet3/examples/pybullet/gym/pybullet_data/output/grasp_partial_run
scp -r acro@10.11.98.170:Git/bullet3/examples/pybullet/gym/pybullet_envs/deep_mimic/output C:/UntrackedGit/bulletFork/bullet3/examples/pybullet/gym/pybullet_data/data/policies/humanoid3d
cd Git/bullet3/examples/pybullet/gym/pybullet_envs/deep_mimic
mpiexec -n 16 python3 DeepMimic_Optimizer.py --arg_file train_humanoid3d_kick_goals_args.txt --num_workers 16
mpiexec -n 16 python3 DeepMimic_Optimizer.py --arg_file train_humanoid3d_spinkick_args.txt --num_workers 16
mpiexec -n 16 python3 DeepMimic_Optimizer.py --arg_file train_humanoid3d_walk_args.txt --num_workers 16
mpiexec -n 16 python DeepMimic_Optimizer.py --arg_file train_humanoid3d_run_args.txt --num_workers 16
mpiexec -n 16 python DeepMimic_Optimizer.py --arg_file train_humanoid_grasp_args.txt --num_workers 16
// "python3" may have to be "python" instead in previous commands!
// To install pybullet from a local package editably:
pip install --editable .
// Remote server setup:
// setup virtual environment:
virtualenv env
pip install gym
pip install tensorflow==1.14.0
// build and install pybullet locally:
// In bullet3 root folder:
./build_cmake_pybullet_double.sh
pip install --editable .
// Install openMPI:
https://www.open-mpi.org/
sudo apt install libopenmpi-dev
pip install mpi4py
// To run training after closing terminal:
https://linuxize.com/post/how-to-use-linux-screen/
sudo apt install screen
screen -r
ssh acro@10.11.98.170
// enable virtualenv:
source /home/acro/Git/bullet3/env/bin/activate